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Improvement of longitudinal tracking and the addition of turning control of an underactuated moment exchange unicycle robot

Koopman, F.B. (2019) Improvement of longitudinal tracking and the addition of turning control of an underactuated moment exchange unicycle robot.

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Abstract:Nowadays more and more packages are being send. This could be automated by delivery drones. The moment exchange unicycle robot could be one of these drones. For this drone to work it needs to have good controllability, thus good tracking, and capable of turning. To get better tracking a feedforward controller was added parallel to the cascaded feedback controller for the driving direction. This controller is of the acceleration feedforward type, thus it is a function of the reference profile acceleration and it results in a pitch angle. The controller was validated by simulations and experiments and found to perform well. Its performance is limited by underactuation and the assumption of a constant acceleration. The addition of turning control was done by implementing a control strategy found in literature. This strategy applies a harmonic reference to both the roll and pitch angles. The sinuses are in-phase or in counter-phase depending on which direction the drone should turn. The higher the amplitude of the sinuses the faster the drone will turn. From simulations and experiments it was found that this strategy works. Also, the simulation model was compared to the experimental setup found to behave similar.
Item Type:Essay (Master)
Faculty:ET: Engineering Technology
Subject:52 mechanical engineering
Programme:Mechanical Engineering MSc (60439)
Link to this item:http://purl.utwente.nl/essays/77978
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